Publications

3,963 major publications by members of the MERL staff.


  •  Wiebe, Felix, Turcato, Niccolò, Dalla Libera, Alberto, Seong Bjorn Choe, Jean, Choi, Bumkyu, Faust, Tim Lukas, Maraqten, Habib, Aghadavoodi, Erfan, Cali, Marco, Sinigaglia, Alberto, Giacomuzzo, Giulio, Carli, Ruggero, Romeres, Diego, Kim, Jong-kook, Susto, Gian Antonio, Vyas, Shubham, Mronga, Dennis, Belousov, Boris, Peters, Jan, Kirchner, Frank, Kumar, Shivesh, "Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition", Tech. Rep. TR2026-013, Mitsubishi Electric Research Laboratories, Cambridge, MA, January 2026.
    BibTeX TR2026-013 PDF
    • @techreport{MERL_TR2026-013,
    • author = {Wiebe, Felix; Turcato, Niccolò; Dalla Libera, Alberto; Seong Bjorn Choe, Jean; Choi, Bumkyu; Faust, Tim Lukas; Maraqten, Habib; Aghadavoodi, Erfan; Cali, Marco; Sinigaglia, Alberto; Giacomuzzo, Giulio; Carli, Ruggero; Romeres, Diego; Kim, Jong-kook; Susto, Gian Antonio; Vyas, Shubham; Mronga, Dennis; Belousov, Boris; Peters, Jan; Kirchner, Frank; Kumar, Shivesh},
    • title = {Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition},
    • institution = {MERL - Mitsubishi Electric Research Laboratories},
    • address = {Cambridge, MA 02139},
    • number = {TR2026-013},
    • month = jan,
    • year = 2026,
    • url = {https://www.merl.com/publications/TR2026-013/}
    • }
  •  Elango, P., Vinod, A.P., Kitamura, K., Acikmese, B., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit", AIAA SciTech Forum 2026, January 2026.
    BibTeX TR2026-016 PDF
    • @inproceedings{Elango2026jan,
    • author = {Elango, Purnanand and Vinod, Abraham P. and Kitamura, Kenji and Acikmese, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Continuous-Time Successive Convexification for Passively-Safe Spacecraft Rendezvous on a Near Rectilinear Halo Orbit}},
    • booktitle = {AIAA SciTech Forum 2026},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-016}
    • }
  •  Kamath, A., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming", AIAA SciTech Forum, January 2026.
    BibTeX TR2026-015 PDF
    • @inproceedings{Kamath2026jan,
    • author = {Kamath, Abhinav and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Robust Optimal Control for Autonomous Precision Landing via Set-based Dynamic Programming}},
    • booktitle = {AIAA SciTech Forum},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-015}
    • }
  •  Kento, T., Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Powered Descent Decision Making: A Reachability-Steering Approach", AIAA SciTech Forum, January 2026.
    BibTeX TR2026-014 PDF
    • @inproceedings{Kento2026jan,
    • author = {Kento, Tomita and Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Powered Descent Decision Making: A Reachability-Steering Approach}},
    • booktitle = {AIAA SciTech Forum},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-014}
    • }
  •  Wiebe, F., Turcato, N., Dalla Libera, A., Seong Bjorn Choe, J., Choi, B., Faust, T.L., Maraqten, H., Aghadavoodi, E., Cali, M., Sinigaglia, A., Giacomuzzo, G., Carli, R., Romeres, D., Kim, J.-K., Susto, G.A., Vyas, S., Mronga, D., Belousov, B., Peters, J., Kirchner, F., Kumar, S., "Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition", IEEE Robotics & Automation Magazine, January 2026.
    BibTeX
    • @article{Wiebe2026jan,
    • author = {Wiebe, Felix and Turcato, Niccolò and Dalla Libera, Alberto and Seong Bjorn Choe, Jean and Choi, Bumkyu and Faust, Tim Lukas and Maraqten, Habib and Aghadavoodi, Erfan and Cali, Marco and Sinigaglia, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego and Kim, Jong-kook and Susto, Gian Antonio and Vyas, Shubham and Mronga, Dennis and Belousov, Boris and Peters, Jan and Kirchner, Frank and Kumar, Shivesh},
    • title = {{Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition}},
    • journal = {IEEE Robotics \& Automation Magazine},
    • year = 2026,
    • month = jan
    • }
  •  Jeon, C.-B., Wichern, G., Germain, F.G., Le Roux, J., "Embracing Cacophony: Explaining and Improving Random Mixing in Music Source Separation", IEEE Open Journal of Signal Processing, January 2026.
    BibTeX TR2026-012 PDF
    • @article{Jeon2026jan,
    • author = {Jeon, Chang-Bin and Wichern, Gordon and Germain, François G and {Le Roux}, Jonathan},
    • title = {{Embracing Cacophony: Explaining and Improving Random Mixing in Music Source Separation}},
    • journal = {IEEE Open Journal of Signal Processing},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-012}
    • }
  •  Xu, Z., Shirai, Y., "UNIC: Learning Unified Multimodal Extrinsic Contact Estimation", arXiv, January 2026.
    BibTeX arXiv
    • @article{Xu2026jan,
    • author = {Xu, Zhengtong and Shirai, Yuki},
    • title = {{UNIC: Learning Unified Multimodal Extrinsic Contact Estimation}},
    • journal = {arXiv},
    • year = 2026,
    • month = jan,
    • url = {https://www.arxiv.org/abs/2601.04356}
    • }
  •  Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Learning Non-prehensile Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations", IEEE Robotics and Automation Letters, January 2026.
    BibTeX TR2026-011 PDF Video
    • @article{Shirai2026jan,
    • author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
    • title = {{Learning Non-prehensile Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations}},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-011}
    • }
  •  Wilkinghoff, K., Yang, H., Ebbers, J., Germain, F.G., Wichern, G., Le Roux, J., "Local Density-Based Anomaly Score Normalization for Domain Generalization", IEEE Transactions on Audio, Speech and Language Processing, January 2026.
    BibTeX TR2026-010 PDF Software
    • @article{Wilkinghoff2026jan,
    • author = {Wilkinghoff, Kevin and Yang, Haici and Ebbers, Janek and Germain, François G and Wichern, Gordon and {Le Roux}, Jonathan},
    • title = {{Local Density-Based Anomaly Score Normalization for Domain Generalization}},
    • journal = {IEEE Transactions on Audio, Speech and Language Processing},
    • year = 2026,
    • month = jan,
    • url = {https://www.merl.com/publications/TR2026-010}
    • }
  •  Cornell, S., Boeddeker, C., Park, T., Huang, H., Raj, D., Wiesner, M., Masuyama, Y., Chang, X., Wang, Z.-Q., Squartini, S., Garcia, P., Watanabe, S., "Recent Trends in Distant Conversational Speech Recognition: A Review of CHiME-7 and 8 DASR Challenges", Computer Speech & Language, DOI: 10.1016/​j.csl.2025.101901, Vol. 97, pp. 101901, December 2025.
    BibTeX TR2026-008 PDF
    • @article{Cornell2025dec,
    • author = {Cornell, Samuele and Boeddeker, Christoph and Park, Taejin and Huang, He and Raj, Desh and Wiesner, Matthew and Masuyama, Yoshiki and Chang, Xuankai and Wang, Zhong-Qiu and Squartini, Stefano and Garcia, Paola and Watanabe, Shinji},
    • title = {{Recent Trends in Distant Conversational Speech Recognition: A Review of CHiME-7 and 8 DASR Challenges}},
    • journal = {Computer Speech \& Language},
    • year = 2025,
    • volume = 97,
    • pages = 101901,
    • month = dec,
    • doi = {10.1016/j.csl.2025.101901},
    • url = {https://www.merl.com/publications/TR2026-008}
    • }
  •  Masuyama, Y., Wichern, G., Germain, F.G., Ick, C., Le Roux, J., "SuDaField: Subject- and Dataset-Aware Neural Field for HRTF Modeling", IEEE Open Journal of Signal Processing, DOI: 10.1109/​OJSP.2025.3627073, Vol. 6, pp. 1169-1178, December 2025.
    BibTeX TR2026-009 PDF
    • @article{Masuyama2025dec2,
    • author = {Masuyama, Yoshiki and Wichern, Gordon and Germain, François G and Ick, Christopher and {Le Roux}, Jonathan},
    • title = {{SuDaField: Subject- and Dataset-Aware Neural Field for HRTF Modeling}},
    • journal = {IEEE Open Journal of Signal Processing},
    • year = 2025,
    • volume = 6,
    • pages = {1169--1178},
    • month = dec,
    • doi = {10.1109/OJSP.2025.3627073},
    • url = {https://www.merl.com/publications/TR2026-009}
    • }
  •  Masuyama, Y., Wichern, G., Germain, F.G., Ick, C., Le Roux, J., "RANF: Neural Field-Based HRTF Spatial Upsampling with Retrieval Augmentation and Parameter Efficient Fine-Tuning", IEEE Open Journal of Signal Processing, December 2025.
    BibTeX TR2026-007 PDF Software
    • @article{Masuyama2025dec,
    • author = {Masuyama, Yoshiki and Wichern, Gordon and Germain, François G and Ick, Christopher and {Le Roux}, Jonathan},
    • title = {{RANF: Neural Field-Based HRTF Spatial Upsampling with Retrieval Augmentation and Parameter Efficient Fine-Tuning}},
    • journal = {IEEE Open Journal of Signal Processing},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-007}
    • }
  •  Kato, S., Yataka, R., Wang, P., Miraldo, P., Fujihashi, T., Boufounos, P.T., "RAPTR: Radar-based 3D Pose Estimation using Transformer", Advances in Neural Information Processing Systems (NeurIPS), December 2025.
    BibTeX TR2026-006 PDF Software
    • @inproceedings{Kato2025dec,
    • author = {Kato, Sorachi and Yataka, Ryoma and Wang, Pu and Miraldo, Pedro and Fujihashi, Takuya and Boufounos, Petros T.},
    • title = {{RAPTR: Radar-based 3D Pose Estimation using Transformer}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-006}
    • }
  •  Castroviejo-Fernandez, M., Leung, J., "Relaxed barrier function based model predictive control with hard input constraints", IEEE Control Systems Letters, December 2025.
    BibTeX TR2026-005 PDF
    • @article{Castroviejo-Fernandez2025dec,
    • author = {Castroviejo-Fernandez, Miguel and Leung, Jordan},
    • title = {{Relaxed barrier function based model predictive control with hard input constraints}},
    • journal = {IEEE Control Systems Letters},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-005}
    • }
  •  Yataka, R., Wang, P., Boufounos, P.T., Takahashi, R., "REXO: Indoor Multi-View Radar Object Detection via 3D Bounding Box Diffusion", arXiv, December 2025.
    BibTeX arXiv
    • @article{Yataka2025dec,
    • author = {Yataka, Ryoma and Wang, Pu and Boufounos, Petros T. and Takahashi, Ryuhei},
    • title = {{REXO: Indoor Multi-View Radar Object Detection via 3D Bounding Box Diffusion}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2511.17806}
    • }
  •  Zhang, H., Peng, K.-C., Lohit, S., Yeh, R., "Auto-Vocabulary 3D Object Detection", arXiv, December 2025.
    BibTeX arXiv
    • @article{Zhang2025dec3,
    • author = {Zhang, Haomeng and Peng, Kuan-Chuan and Lohit, Suhas and Yeh, Raymond},
    • title = {{Auto-Vocabulary 3D Object Detection}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.16077}
    • }
  •  De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Ghidoni, S., Romeres, D., "Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics", Frontiers, December 2025.
    BibTeX TR2025-173 PDF
    • @article{DeLazzari2025dec,
    • author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Ghidoni, Stefano and Romeres, Diego},
    • title = {{Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics}},
    • journal = {Frontiers},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-173}
    • }
  •  Van der Merwe, M., Ota, K., Berenson, D., Fazeli, N., Jha, D.K., "Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing", IEEE RA-L, December 2025.
    BibTeX TR2026-002 PDF
    • @article{VanderMerwe2025dec2,
    • author = {Van der Merwe, Mark and Ota, Kei and Berenson, Dmitry and Fazeli, Nima and Jha, Devesh K.},
    • title = {{Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing}},
    • journal = {IEEE RA-L},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-002}
    • }
  •  Ding, T., Xie, Y., Liang, Y., Chatterjee, M., Miraldo, P., Jiang, H., "LASER: Layer-wise Scale Alignment for Training-Free Streaming 4D Reconstruction", arXiv, December 2025.
    BibTeX arXiv
    • @article{Ding2025dec,
    • author = {Ding, Tianye and Xie, Yiming and Liang, Yiqing and Chatterjee, Moitreya and Miraldo, Pedro and Jiang, Huaizu},
    • title = {{LASER: Layer-wise Scale Alignment for Training-Free Streaming 4D Reconstruction}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.13680}
    • }
  •  Joshi, A., Mowlavi, S., Benosman, M., "A dual ensemble Kalman filter approach to robust control of nonlinear systems: An application to partial differential equations", IEEE Conference on Decision and Control (CDC), December 2025.
    BibTeX TR2025-172 PDF
    • @inproceedings{Joshi2025dec,
    • author = {Joshi, Anant and Mowlavi, Saviz and Benosman, Mouhacine},
    • title = {{A dual ensemble Kalman filter approach to robust control of nonlinear systems: An application to partial differential equations}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-172}
    • }
  •  Uzun, S., Acikmese, B., Di Cairano, S., "Motion Planning for Information Acquisition via Continuous-time Successive Convexification", IEEE Conference on Decision and Control (CDC), December 2025.
    BibTeX TR2025-170 PDF
    • @inproceedings{Uzun2025dec,
    • author = {Uzun, Samet and Acikmese, Behcet and {Di Cairano}, Stefano},
    • title = {{Motion Planning for Information Acquisition via Continuous-time Successive Convexification}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-170}
    • }
  •  Vinod, A.P., Kamath, A., Weiss, A., Di Cairano, S., "Set-based lossless convexification for a class of robust nonlinear optimal control problems", IEEE Conference on Decision and Control (CDC), December 2025.
    BibTeX TR2025-160 PDF
    • @inproceedings{Vinod2025dec,
    • author = {Vinod, Abraham P. and Kamath, Abhinav and Weiss, Avishai and {Di Cairano}, Stefano},
    • title = {{Set-based lossless convexification for a class of robust nonlinear optimal control problems}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-160}
    • }
  •  Hutchinson, S., Vinod, A.P., Germain, F.G., Di Cairano, S., Laughman, C.R., Chakrabarty, A., "Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers", Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI, December 2025.
    BibTeX TR2026-001 PDF
    • @inproceedings{Hutchinson2025dec,
    • author = {{{Hutchinson, Spencer and Vinod, Abraham P. and Germain, François G and Di Cairano, Stefano and Laughman, Christopher R. and Chakrabarty, Ankush}}},
    • title = {{{Quantile-SMPC for Grid-Interactive Buildings with Multivariate Temporal Fusion Transformers}}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on UrbanAI},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-001}
    • }
  •  Kamath, A.G., Vinod, A.P., Elango, P., Di Cairano, S., Weiss, A., "Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing", arXiv, December 2025.
    BibTeX arXiv
    • @article{Kamath2025dec,
    • author = {Kamath, Abhinav G. and Vinod, Abraham P. and Elango, Purnanand and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Set-based Optimal, Robust, and Resilient Control with Applications to Autonomous Precision Landing}},
    • journal = {arXiv},
    • year = 2025,
    • month = dec,
    • url = {https://arxiv.org/abs/2512.07043}
    • }
  •  Zhang, Y., Corcodel, R., Hori, C., Cherian, A., Zhao, D., "AxisBench: What Can Go Wrong in VLMs’ Spatial Reasoning?", Advances in Neural Information Processing Systems (NeurIPS) workshop, December 2025.
    BibTeX TR2025-168 PDF
    • @inproceedings{Zhang2025dec2,
    • author = {{{Zhang, Yuyou and Corcodel, Radu and Hori, Chiori and Cherian, Anoop and Zhao, Ding}}},
    • title = {{{AxisBench: What Can Go Wrong in VLMs’ Spatial Reasoning?}}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) workshop},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-168}
    • }